CN111522272A - High-speed boat multi-place remote control method and system based on follow-up synchronization - Google Patents

High-speed boat multi-place remote control method and system based on follow-up synchronization Download PDF

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CN111522272A
CN111522272A CN202010356775.8A CN202010356775A CN111522272A CN 111522272 A CN111522272 A CN 111522272A CN 202010356775 A CN202010356775 A CN 202010356775A CN 111522272 A CN111522272 A CN 111522272A
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speed
heading
angle
actual
theta
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CN111522272B (en
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徐峰
冯城
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Ningbo Scallop Technology Co ltd
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Ningbo Scallop Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2231—Master slave
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2637—Vehicle, car, auto, wheelchair

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

The invention relates to the technical field of remote control, and particularly discloses a method and a system for remotely controlling multiple places of a high-speed boat based on servo synchronization, wherein the method comprises the following steps: s1, acquiring the set rotation angle of the first ship speed assembly
Figure DDA0002473751040000011
And a set rotation angle theta of the first heading assemblys(ii) a S2, setting the rotation angle
Figure DDA0002473751040000012
Converted into a set boat speed vsWill set the rotation angle thetasConverted into a set heading angle omegas(ii) a S3, setting the speed vsSetting a heading angle omegasSetting the rotation angle
Figure DDA0002473751040000013
And setting the rotation angle thetasSending the data to a boat control module; s4, detecting the actual rotation angle of the second ship speed assembly
Figure DDA0002473751040000014
And actual angle of rotation theta of second heading assemblyr(ii) a S5, controlling the second ship speed component to rotate to set the rotation angle
Figure DDA0002473751040000015
Equal to the actual angle of rotation
Figure DDA0002473751040000016
S6, controlling the second heading component to rotate to set the rotation angle thetasEqual to the actual angle of rotation thetar. By adopting the technical scheme of the invention, a local driver can conveniently observe a remote operation result.

Description

High-speed boat multi-place remote control method and system based on follow-up synchronization
Technical Field
The invention relates to the technical field of remote control, in particular to a method and a system for remotely controlling multiple places of a high-speed boat based on follow-up synchronization.
Background
In the prior art, high-speed boats often have the functions of remote operation and local operation.
When the high-speed boat is locally controlled, a driver operates the mechanical handle, the control device collects handle signals and then sends the signals to a high-speed boat control system on the boat, and the high-speed boat control system realizes the adjustment of the boat speed and the heading.
When the high-speed boat is remotely controlled, a common method is that a remote preset value is input into a remote control device and then is sent to a high-speed boat control system through a communication link, the high-speed boat controls a steering engine and a host on the boat, and then the state of the boat is displayed on the remote device through monitoring equipment. For example, the marine manual and remote control device and the control method disclosed in chinese patent with publication number CN104881024A include: the ship control platform is used for inputting a manual preset value and manually controlling gears and a steering wheel; the remote control device is used for inputting a remote preset value, remotely controlling gears and a steering wheel; a control device for controlling the gear and the steering wheel respectively; the feedback device is used for feeding back data of gears and a steering wheel in real time; and the control system receives the two paths of preset values, compares the data detected by the feedback device with the input preset values, and enables the control device to control the gear and the steering wheel to act according to the comparison result until the comparison result of the detected data and the preset values is within an error allowable range.
The scheme ensures the accuracy of remote control, but the actions of the gears and the steering wheel are output to the high-speed boat control system in real time, namely, the real-time change of the gears and the steering wheel can lead the boat speed and the heading of the high-speed boat to change in real time. This has just led to the operating personnel on the high-speed boat to know not directly perceivedly to current remote control instruction, can only observe the change that gear and steering wheel are taking place, but can not know gear and the final adjustment position of steering wheel in advance, just also can not in time prejudge the final motion state of high-speed boat, especially for the field that remote control delay is big because remote control easily produces the malfunction, and local operating personnel is because do not know gear and the final adjustment position of steering wheel, be difficult to intervene in advance, can only judge after the action finishes whether the malfunction, if the malfunction, because actual operation has executed, the operating space who reserves local driver diminishes, the navigation safety to high-speed boat can bring the hidden danger.
Therefore, a remote control method and system for facilitating the local driver to observe the remote operation result is required.
Disclosure of Invention
The invention provides a follow-up synchronization-based multi-place remote control method and a system for a high-speed boat, which can facilitate a local driver to observe a remote operation result.
In order to solve the technical problem, the present application provides the following technical solutions:
a multi-place remote control method of a high-speed boat based on servo synchronization comprises the following steps:
remote control:
s1, acquiring the set rotation angle of the first ship speed assembly in the main control module
Figure BDA0002473751020000021
And a set rotation angle theta of the first heading assemblys；
S2, rotating the set angle of the first ship speed assembly
Figure BDA0002473751020000022
Converted into a set boat speedνsSet rotation angle theta of first heading componentsConverted into a set heading angle omegas；
S3, setting the speed vsSetting a heading angle omegasSetting the rotation angle
Figure BDA0002473751020000023
And setting the rotation angle thetasSending the data to a boat control module;
s4, detecting the actual rotation angle of the second ship speed assembly in the ship control module
Figure BDA0002473751020000024
And actual angle of rotation theta of second heading assemblyr；
S5, controlling the second ship speed component to rotate to set the rotation angle
Figure BDA0002473751020000025
Equal to the actual angle of rotation
Figure BDA0002473751020000026
S6, controlling the second heading component to rotate to set the rotation angle thetasEqual to the actual angle of rotation thetar；
S7, setting the speed vsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
The basic scheme principle and the beneficial effects are as follows:
in this scheme, during remote control, long-range operating personnel operates first ship speed subassembly and first heading subassembly, the settlement turned angle of first ship speed subassembly
Figure BDA0002473751020000027
And a set rotation angle theta of the first heading assemblysAnd the collected signals are sent to a boat control module on the high-speed boat. The boat control module controls the second ship speed assembly and the second heading assembly to rotate, so that the rotation angle is set
Figure BDA0002473751020000028
Equal to the actual angle of rotation
Figure BDA0002473751020000029
Setting the rotation angle thetasEqual to the actual angle of rotation thetarFinally, the speed v of the ship is setsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system, and adjusting the boat speed and the heading by the high-speed boat control system.
In the scheme, the actual rotation angle is
Figure BDA00024737510200000210
And the actual angle of rotation thetarAfter the adjustment is finished, the actual adjustment of the ship speed and the heading is carried out. Therefore, a local driver on the boat can observe the remote operation result conveniently, and the local driver can know the final adjustment positions of the boat speed and the heading; if the condition of time delay or improper operation exists, the local driver has sufficient operation space during intervention because the actual execution is not performed yet, and the navigation safety can be effectively ensured.
Further, in the step S5, comparison is performed
Figure BDA0002473751020000031
And
Figure BDA0002473751020000032
if a difference is present between
Figure BDA0002473751020000033
Controlling the second boat speed component to rotate forwards if
Figure BDA0002473751020000034
Controlling the second watercraft speed assembly to reverse if
Figure BDA0002473751020000035
Controlling the second ship speed assembly to stop rotating;
in S6, θ is comparedsAnd thetarIf theta is different from the others>θrControl ofMaking the second heading component rotate forward if thetas<θrControlling the second heading assembly to reverse if thetas＝θrAnd controlling the second heading component to stop rotating.
The forward rotation and the reverse rotation of the second heading component can be effectively ensured by controlling the forward rotation and the reverse rotation of the second ship speed component
Figure BDA0002473751020000036
Angle of rotation with respect to the actual
Figure BDA0002473751020000037
Keeping the same and setting the rotation angle thetasAngle of rotation theta with respect to the actualrThe consistency is kept, so that consistency between remote operation and local display operation is ensured.
Further comprising S601, rotating the actual angle
Figure BDA0002473751020000038
Converted into actual boat speed vrActual angle of rotation thetarConverted into actual heading angle omegar(ii) a In S7, v is also comparedrAnd vs，ωrAnd omegas(ii) a If vr＝νsAnd ω isr＝ωs(ii) a Will set the speed v of the shipsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
Local recalculation of actual boat velocity vrAnd the actual heading angle omegarAnd the set boat speed vsAnd setting the heading angle omegasAnd the consistency of the calculation results can be ensured by carrying out comparison and verification.
Further, in the step S2, the velocity ν of the ship is setsThe calculation formula of (2) is as follows:
Figure BDA0002473751020000039
setting the heading angle omegasThe calculation formula of (2) is as follows: omegas＝kωθs+bωWherein k isv、bv、kωAnd bωAre all usualAnd (4) counting.
Set boat speed v convenient to directly obtainsAnd setting the heading angle omegasSpecific values of (a).
Further, the method also comprises a local control step:
s8, acquiring the actual rotation angle of the ship speed assembly in the second remote control device
Figure BDA00024737510200000310
And actual angle of rotation theta of the heading assemblyr；
S9, rotating the actual angle
Figure BDA00024737510200000311
Converted into actual boat speed vrWill actually rotate the angle thetarConverted into actual heading angle omegar；
S10, changing the actual boat speed vrAnd the actual heading angle omegarAnd sending the data to a high-speed boat control system.
The local driver can directly control the high-speed boat conveniently.
Further, in S3, the velocity v is setsAnd setting the heading angle omegasAnd sending the data to the slave control module.
At S4, the actual turning angle of the cruise control module is detected
Figure BDA00024737510200000312
And actual angle of rotation theta of the heading assemblyi；
In S5, comparison is also made
Figure BDA00024737510200000313
And
Figure BDA00024737510200000314
if a difference is present between
Figure BDA00024737510200000315
Controlling the third boat speed component to rotate forwards if
Figure BDA00024737510200000316
Controlling the third watercraft speed assembly to reverse if
Figure BDA00024737510200000317
Controlling the third ship speed assembly to stop rotating;
in S6, θ is also comparedsAnd thetaiIf theta is different from the others>θiControlling the third heading component to rotate forwards if thetas<θiControlling the third heading assembly to reverse if thetas＝θiAnd controlling the third heading component to stop rotating.
If the slave control station exists, the current operation of the master control station can be sent to the slave control station, and the slave control station displays the instructions, so that the operators of the slave control station can monitor the operation in real time.
A high-speed boat multi-place remote control system based on follow-up synchronization comprises a main control module arranged at a main control station and a boat control module arranged on a high-speed boat;
the main control module comprises a first remote control device and a first synchronous controller; the boat control module comprises a second remote control device and a second synchronous controller; the first synchronous controller is in communication connection with the second synchronous controller;
the first remote control device comprises a first ship speed assembly, a first heading assembly and a first acquisition unit; the second remote control device comprises a second ship speed assembly, a second heading assembly and a second acquisition unit;
the first acquisition unit is used for acquiring the set rotation angle of the first ship speed assembly
Figure BDA0002473751020000041
And a set rotation angle theta of the first heading assemblysAnd sending the data to a first synchronous controller;
the first synchronous controller is used for setting the rotation angle of the first ship speed assembly
Figure BDA0002473751020000042
Converted into a set boat speed vsRotating the first heading component by a set angle thetasConverted into a set heading angle omegas；
The first synchronous controller is also used for setting the ship speed vsSetting a heading angle omegasSetting the rotation angle
Figure BDA0002473751020000043
And setting the rotation angle thetasSending the data to a second synchronous controller in the boat control module;
the second acquisition unit is used for detecting the actual rotation angle of a second ship speed assembly in the second remote control device
Figure BDA0002473751020000044
And actual angle of rotation theta of second heading assemblyrAnd sending the data to a second synchronous controller;
the second synchronous controller is used for controlling the second ship speed component to rotate so as to set the rotation angle
Figure BDA0002473751020000045
Equal to the actual angle of rotation
Figure BDA0002473751020000046
Controlling the second heading component to rotate to enable the set rotation angle thetasEqual to the actual angle of rotation thetar；
The second synchronous controller is also used for converting the actual rotation angle
Figure BDA0002473751020000047
Converted into actual boat speed vrActual angle of rotation thetarConverted into actual heading angle omegar；
The second synchronous controller is also used for comparing the actual ship speed vrAnd set the speed vsActual heading angle ωrAnd setting a heading angle omegasIf v isr＝νsAnd ω isr＝ωs(ii) a Will set the speed v of the shipsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
In this scheme, during remote control, long-range operating personnel operates first ship speed subassembly and first heading subassembly, the settlement turned angle of first ship speed subassembly
Figure BDA0002473751020000048
And a set rotation angle theta of the first heading assemblysAnd the collected signals are sent to a boat control module on the high-speed boat. The boat control module controls the second ship speed assembly and the second heading assembly to rotate, so that the rotation angle is set
Figure BDA00024737510200000410
Equal to the actual angle of rotation
Figure BDA0002473751020000049
Setting the rotation angle thetasEqual to the actual angle of rotation thetarFinally, the speed v of the ship is setsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system, and adjusting the boat speed and the heading by the high-speed boat control system.
In the scheme, the actual rotation angle is
Figure BDA0002473751020000051
And the actual angle of rotation thetarAfter the adjustment is finished, the actual adjustment of the ship speed and the heading is carried out. Therefore, a local driver on the boat can observe the remote operation result conveniently, and the local driver can know the final adjustment positions of the boat speed and the heading; if the condition of time delay or improper operation exists, the local driver has sufficient operation space when needing to intervene because the actual execution is not carried out yet, and the navigation safety can be effectively ensured.
Further, the second acquisition unit is used for respectively acquiring the actual rotation angles of the ship speed components in the second remote control device
Figure BDA0002473751020000053
And actual angle of rotation theta of the heading assemblyrAnd sending the data to a second synchronous controller; the second synchronous controller is also used for converting the actual rotation angleDegree of rotation
Figure BDA0002473751020000052
Converted into actual boat speed vrWill actually rotate the angle thetarConverted into actual heading angle omegar(ii) a The second synchronization controller is also used for converting the actual ship speed vrAnd the actual heading angle omegarAnd sending the data to a high-speed boat control system.
The local driver can directly control the high-speed boat conveniently.
Further, the set rotation angle
Figure BDA0002473751020000055
Equal to the actual angle of rotation
Figure BDA0002473751020000054
The second synchronous controller compares
Figure BDA0002473751020000056
And
Figure BDA0002473751020000057
if a difference is present between
Figure BDA00024737510200000510
The second synchronous controller is used for controlling the forward rotation of the second ship speed component if
Figure BDA0002473751020000058
The second synchronous controller is used for the reverse rotation of the second ship speed component if
Figure BDA0002473751020000059
The second synchronous controller is used for controlling the second ship speed assembly to stop rotating;
so that the set rotation angle thetasEqual to the actual angle of rotation thetarWhile the second synchronous controller compares thetasAnd thetarIf theta is different from the others>θrThe second synchronous controller is used for controlling the second heading component to rotate forwards if thetas<θrOf 1 atThe two synchronous controllers are used for controlling the second heading component to reverse if thetas＝θrAnd the second synchronous controller is used for controlling the second heading component to stop rotating.
The forward rotation and the reverse rotation of the second ship speed assembly and the forward rotation and the reverse rotation of the second heading assembly are controlled, so that the set rotation angle can be effectively ensured
Figure BDA00024737510200000511
Angle of rotation with respect to the actual
Figure BDA00024737510200000512
Keeping the same and setting the rotation angle thetasEqual to the actual angle of rotation thetarThe consistency is kept, so that consistency between remote operation and local display operation is ensured.
The system further comprises a slave control module, wherein the slave control module comprises a third remote control device and a third synchronous controller, and the first synchronous controller is in communication connection with the third synchronous controller;
the third remote control device comprises a third ship speed assembly, a third heading assembly and a third acquisition unit;
the first synchronous controller is also used for setting the ship speed vsAnd setting the heading angle omegasSending the data to a third synchronous controller in the slave control module; the third acquisition unit is also used for detecting the actual rotation angle of a third ship speed assembly in a third remote control device
Figure BDA00024737510200000513
And actual angle of rotation theta of third heading assemblyr；
The third synchronous controller is also used for comparison
Figure BDA00024737510200000514
And
Figure BDA00024737510200000515
if a difference is present between
Figure BDA00024737510200000516
The third synchronous controller is used for controlling the forward rotation of the third ship speed component if
Figure BDA00024737510200000518
The third synchronous controller is used for the reverse rotation of the third ship speed component if
Figure BDA00024737510200000517
The third synchronous controller is used for controlling the third ship speed assembly to stop rotating;
third synchronous controller compares thetasAnd thetarIf theta is different from the others>θrA third synchronous controller for controlling the third heading component to rotate forward if thetas<θrA third synchronization controller for controlling a third heading assembly to reverse if θs＝θrAnd the third synchronous controller is used for controlling the third heading component to stop rotating.
If the slave control station exists, the current operation of the master control station can be sent to the slave control station, and the slave control station displays the instructions, so that the monitoring operation of an operator of the slave control station is facilitated.
Drawings
FIG. 1 is a logic block diagram of a high-speed boat multi-location remote control system based on servo synchronization according to an embodiment;
FIG. 2 is a front view of a multi-site remote control of a high speed craft in accordance with an embodiment;
FIG. 3 is a right side view of a multi-site remote control of a high speed craft in accordance with an embodiment;
FIG. 4 is a front cross-sectional view of a speed control mechanism in a multi-site remote control for a high speed craft in accordance with an embodiment;
FIG. 5 is a cross-sectional view of the speed control mechanism of a multi-site remote control for a high speed craft in the right view according to one embodiment;
FIG. 6 is a top cross-sectional view of a boat speed follower of the multi-ground remote control of a high speed boat in accordance with an embodiment;
FIG. 7 is a cross-sectional view of a steering mechanism in a multi-site remote control of a high speed craft in accordance with an embodiment;
FIG. 8 is a cross-sectional view of a heading follower in a multi-site remote control unit of a high speed boat in accordance with an embodiment;
fig. 9 is a logic block diagram of a high-speed boat multi-location remote control system based on the servo synchronization according to the second embodiment.
Detailed Description
The following is further detailed by way of specific embodiments:
the reference numbers in the drawings of the specification include: the device comprises a support 100, a ship speed control mechanism 200, a ship speed follow-up mechanism 300, a heading control mechanism 400, a heading follow-up mechanism 500, a turning handle 201, a limiter 202, a hand feeling component 210, a pitching gear 203, a potentiometer 204, a transverse main shaft 205, a first opening fixing ring 206, a first fixing frame 301, a disc type motor 302, a first speed reducer 303, a main synchronous pulley 304, a secondary synchronous pulley 305, a ship speed clutch 306, a first clutch gear 307, a dial 401, a vertical main shaft 402, a rolling gear 403, a damper 404, a heading sensing gear 405, a potentiometer 406, a supporting plate 407, a second opening fixing ring 408, a hollow cup motor 501, a second speed reducer 502, a second fixing frame 503, a heading clutch 504 and a second clutch gear 505.
Example one
As shown in fig. 1, the high-speed boat multi-location remote control system based on the servo synchronization of the embodiment includes a master control module disposed at a master control station and a boat control module disposed on a high-speed boat.
The main control module comprises a first remote control device and a first synchronous controller; the boat control module comprises a second remote control device and a second synchronous controller; the first synchronization controller is connected with the second synchronization controller through a communication link.
The first remote control device comprises a first ship speed assembly, a first heading assembly, a first collecting unit, a first ship speed clutch and a first heading clutch. The second remote control device comprises a second ship speed assembly, a second heading assembly, a second collecting unit, a second ship speed clutch and a second heading clutch. In this embodiment, the first remote control device is identical to the second remote control device, and the first synchronous controller is identical to the second synchronous controller; "first" and "second" are merely for descriptive convenience to distinguish.
The first synchronous controller is used for controlling the first ship speed clutch and the first heading clutch to be disconnected when receiving a remote control command;
the first acquisition unit is used for acquiring the set rotation angle of the first ship speed assembly
Figure BDA0002473751020000077
And a set rotation angle theta of the first heading assemblysAnd sending the data to a first synchronous controller;
the first synchronous controller is also used for setting the rotation angle of the first ship speed assembly
Figure BDA0002473751020000078
Converted into a set boat speed vsRotating the first heading component by a set angle thetasConverted into a set heading angle omegas. In particular, the method comprises the following steps of,
Figure BDA0002473751020000079
ωs＝kωθs+bωwherein k isv、bv、kωAnd bωAre all constants.
The first synchronous controller is also used for setting the ship speed vsSetting a heading angle omegasSetting the rotation angle
Figure BDA00024737510200000710
And setting the rotation angle thetasAnd sending to a second synchronization controller in the boat control module. The second synchronous controller is used for controlling the attraction of the second ship speed clutch and the second heading clutch.
The second acquisition unit is used for detecting the actual rotation angle of a second ship speed assembly in the second remote control device
Figure BDA0002473751020000071
And actual angle of rotation theta of second heading assemblyrAnd sent to the second synchronization controller.
The second synchronous controller is also used for comparison
Figure BDA0002473751020000072
And
Figure BDA0002473751020000073
if a difference is present between
Figure BDA0002473751020000075
The second synchronous controller is used for controlling the forward rotation of the second ship speed component if
Figure BDA0002473751020000074
The second synchronous controller is used for the reverse rotation of the second ship speed component if
Figure BDA0002473751020000076
The second synchronous controller is used for controlling the second ship speed assembly to stop rotating. Specifically, the second ship speed assembly comprises a ship speed control mechanism and a ship speed follow-up mechanism; the ship speed control mechanism is used for rotating along with the control of a driver when the first ship speed clutch is disconnected; the ship speed follow-up component is used for driving the ship speed control mechanism to rotate based on a control instruction of the second synchronous controller when the first ship speed clutch is engaged.
The second synchronous controller compares thetasAnd thetarIf theta is different from the others>θrThe second synchronous controller is used for controlling the second heading component to rotate forwards if thetas<θrA second synchronization controller for controlling the second heading assembly to reverse if θs＝θrAnd the second synchronous controller is used for controlling the second heading component to stop rotating. Specifically, the second heading assembly comprises a heading control mechanism and a heading follow-up mechanism; the heading control mechanism is used for rotating along with the control of the driver when the second heading clutch is disconnected; the heading follow-up assembly is used for driving the heading control mechanism to rotate based on a control instruction of the second synchronous controller when the second heading clutch is attracted.
The second synchronous controller is also used for converting the actual rotation angle
Figure BDA0002473751020000081
Converted into actual boat speed vrActual angle of rotation thetarConverted into actual heading angle omegar(ii) a In particular, the method comprises the following steps of,
Figure BDA0002473751020000082
ωr＝kωθr+bω(ii) a Wherein k isv、bv、kωAnd bωAre all constants.
The second synchronous controller is also used for comparing the actual ship speed vrAnd set the speed vsActual heading angle ωrAnd setting a heading angle omegasIf v isr＝νs；ωr＝ωs(ii) a The second synchronous controller is also used for setting the ship speed vsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
And the second synchronous controller is used for controlling the disconnection of the ship speed clutch and the heading clutch of the second remote control device when receiving a local control command. A switch can be arranged on the high-speed boat for switching between local control and remote control; the switch is electrically connected with the second synchronous controller, for example, the switch is pressed, and the electric signal of the switch is used as a local control command. A switch can be arranged in the main control station to carry out remote control switching; the implementation of the above handover is the prior art, and is not described herein again.
The second acquisition unit is used for respectively acquiring the actual rotation angles of the ship speed components in the second remote control device
Figure BDA0002473751020000083
And actual angle of rotation theta of the heading assemblyrAnd sending the data to a second synchronous controller; the second synchronous controller is also used for converting the actual rotation angle
Figure BDA0002473751020000084
Converted into actual boat speed vrWill actually rotate the angle thetarConverted into actual heading angle omegar(ii) a In particular, the method comprises the following steps of,
Figure BDA0002473751020000085
ωr＝kωθr+bω(ii) a The second synchronization controller is also used for converting the actual ship speed vrAnd the actual heading angle omegarAnd sending the data to a high-speed boat control system.
In order to introduce detailed working processes of the first remote control device and the first synchronous controller, the embodiment also provides a high-speed boat multi-place remote control device based on follow-up synchronization; as shown in fig. 2 and fig. 3, the device comprises a support 100 and a synchronous controller, wherein the support 100 is provided with a ship speed control mechanism 200, a ship speed follow-up mechanism 300, a heading control mechanism 400, a heading follow-up mechanism 500 and a collecting unit.
As shown in fig. 2, the boat speed control mechanism 200 is provided with an auxiliary control component, and the auxiliary control component, the boat speed control mechanism 200 and the boat speed follow-up mechanism 300 are integrally provided. The auxiliary control component is a rotating handle 201, the rotating handle 201 is rotatably connected to the side surface of the ship speed control mechanism 200, and the ship speed control mechanism 200 is positioned above the ship speed follow-up mechanism 300.
As shown in fig. 4 and 5, the boat speed control mechanism 200 includes a housing, on which a scale is disposed, and a rotating handle 201 is rotatably connected to a side wall of the housing and rotates vertically and circumferentially. A first transmission gear set, a limiter 202, a hand feeling component 210 and a first angle acquisition module are arranged in the shell. The first transmission gear set comprises a pitch gear 203, a transverse main shaft 205 and an opening fixing ring 206; the limiter 202 and the hand feeling component 210 are connected with the rotating handle 201 through screws, and the rotating handle 201 is connected with the transverse main shaft 205 through screws; the pitch gear 203 is connected to the lateral main shaft 205 by a flat key. In this embodiment, the first angle acquisition module is a potentiometer 204, and the potentiometer 204 is connected to a transverse spindle 205 through an opening fixing ring 206.
As shown in FIG. 6, the boat speed follower 300 is positioned within the housing and includes a first motor, a second drive gear set, and a boat speed clutch 306. In this embodiment, the first motor is a disc motor 302. The second transmission gear set includes a first fixed frame 301, a first speed reducer 303, a primary timing pulley 304, a secondary timing pulley 305, and a first clutch gear 307. The disc motor 302 and the ship speed clutch 306 are connected with the first fixing frame 301 through screws, and the disc motor 302 is connected with the first speed reducer 303; the first reducer 303 is connected with a primary synchronous pulley 304; the primary synchronous pulley 304 is connected with the secondary synchronous pulley 305 through synchronous belt transmission; the secondary synchronous pulley 305 is connected with a ship speed clutch 306; the boat speed clutch 306 is connected with the first clutch gear 307; the first clutch gear 307 is in mesh transmission with the pitch gear 203. The boat speed clutch 306 is an electromagnetic clutch.
As shown in fig. 7, the display component is a dial 401, the dial 401 being part of the heading control mechanism 400. The dial 401 is horizontally arranged and horizontally and circumferentially rotates, and the lower end face of the housing is fixed on the upper surface of the dial 401. The heading control mechanism 400 further comprises a third transmission gear set coaxially fixed with the dial 401, and a second angle acquisition module for acquiring the rotation angle of the dial 401. The third transmission gear set comprises a vertical main shaft 402, a rolling gear 403, a damper 404, a heading sensing gear 405, a supporting plate 407 and a first opening fixing ring 408. In this embodiment, the second angle acquisition module is a potentiometer 406. The dial 401 is connected with the vertical main shaft 402 through a screw; the vertical main shaft 402 is connected with the rolling gear 403 through a flat key; the damper 404 is connected with the vertical main shaft 402 in a matching way; the heading sensing gear 405 is in meshed transmission connection with the rolling gear 403; the heading sensing gear 405 is connected with the potentiometer 406 through an opening, and the first fixing ring 408 is connected with the potentiometer; the potentiometer 406 and the damper 404 are connected to a support plate 407 by screws.
As shown in fig. 8, the heading follower 500 includes a second motor, a fourth drive gear set, and a heading clutch 504. In this embodiment, the second motor is a coreless motor 501. The fourth transmission gear set includes a second speed reducer 502, a second fixed frame 503, and a second clutch gear 505. The second speed reducer 502 and the heading clutch 504 are connected with the second fixing frame 503, and the hollow cup motor 501 is connected with the second speed reducer 502; the second clutch gear 505 is connected with the heading clutch 504 and is in meshed transmission with the rolling gear 403 of the heading control mechanism; the second mount 503 is connected to the support plate 407 of the heading control mechanism. The heading clutch 504 is an electromagnetic clutch.
The acquisition unit is electrically connected with the first angle acquisition module and the second angle acquisition module. The synchronization controller is electrically connected to the acquisition unit, the disc motor 302, the boat speed clutch 306, the coreless motor 501 and the heading clutch 504.
Manual control: and is used for controlling the disc type motor 302, the ship speed clutch 306, the coreless motor 501 and the heading clutch 504 to be closed when the remote control signal is not received. The first transmission gear set is separated from the second transmission gear set, that is, the rotating shaft of the secondary synchronous pulley 305 is in a separated state from the rotating shaft of the first clutch gear 307; the third transmission gear set is separated from the fourth transmission gear set, that is, the second clutch gear 505 is in a separated state from the roll gear 403. The potentiometer 204 is used for collecting angle data of the rotating handle 201 as ship speed control input, and the potentiometer 406 is used for collecting angle data of the rotating angle of the heading sensing gear 405 as heading control input.
Remote control: the controller is used for controlling the suction of the ship speed clutch 306 and the heading clutch 504 when receiving the remote control signal; the first transmission gear set is engaged with the second transmission gear set, that is, the rotating shaft of the secondary synchronous pulley 305 is engaged with the rotating shaft of the first clutch gear 307. The third drive gear set is engaged with the fourth drive gear set, that is, the second clutch gear 505 is engaged with the roll gear 403. And simultaneously controlling the disc type motor 302 and the coreless motor 501 to be started, collecting first angle data of the potentiometer 204 and second angle data of the potentiometer 406, and when the first angle data and the second angle data reach set thresholds, taking the first angle data as ship speed control input and taking the second angle data as heading control input.
Due to the gear transmission effect inside the first transmission gear set and the second transmission gear set and the gear transmission effect inside the third transmission gear set and the fourth transmission gear set, when the remote control is performed, the first angle data collected by the potentiometer 204 and the second angle data collected by the potentiometer 406 cannot reach a set threshold value at the moment when the disc motor 302 and the coreless motor 501 are started, the transmission between the gear sets is delayed, a delay effect is achieved, the rotating handle 201 and the dial 401 cannot reach a designated angle immediately, but the rotating handle 201 and the dial 401 need a certain time to reach the designated angle, and the high-speed boat can be driven. In other words, it functions like a delay control. The remote control signal will delay control of the high speed craft rather than control it instantaneously.
The remote control device for the high-speed boat is only one implementation way, and the practical application is not limited to the implementation way.
A high-speed boat remote control method based on servo synchronization comprises the following steps:
remote control:
s0, powering off a first ship speed clutch and a first heading clutch of a first remote control device in the main control module;
s1, collecting the set rotation angle of the first ship speed component in the first remote control device
Figure BDA0002473751020000101
And a set rotation angle theta of the first heading assemblys；
S2, rotating the set angle of the first ship speed assembly
Figure BDA0002473751020000102
Converted into a set boat speed vsSet rotation angle theta of first heading componentsConverted into a set heading angle omegas(ii) a In particular, the method comprises the following steps of,
Figure BDA00024737510200001112
ωs＝kωθs+bωwherein k isv、bv、kωAnd bωAre all constants;
s3, setting the speed vsSetting a heading angle omegasSetting the rotation angle
Figure BDA00024737510200001113
And setting the rotation angle thetasSending the data to a second synchronous controller in the boat control module;
s301, attracting a second ship speed clutch and a second heading clutch of a second remote control device in the ship control module;
s4, detecting the actual rotation angle of the second ship speed component in the second remote control device
Figure BDA0002473751020000111
And actual angle of rotation theta of second heading assemblyr；
S5, comparison
Figure BDA0002473751020000116
And
Figure BDA0002473751020000115
if a difference is present between
Figure BDA0002473751020000113
Controlling the second boat speed component to rotate forwards if
Figure BDA0002473751020000112
Controlling the second watercraft speed assembly to reverse if
Figure BDA0002473751020000114
And controlling the second ship speed assembly to stop rotating.
S6, compare thetasAnd thetarIf theta is different from the others>θrControlling the second heading component to rotate forwards if thetas<θrControlling the second heading assembly to reverse if thetas＝θrAnd controlling the second heading component to stop rotating.
S601, rotating the actual angle
Figure BDA0002473751020000117
Converted into actual boat speed vrActual angle of rotation thetarConverted into actual heading angle omegar(ii) a In particular, the method comprises the following steps of,
Figure BDA0002473751020000118
ωr＝kωθr+bω；
s7, comparing vrAnd vs，ωrAnd omegas(ii) a If vr＝νsAnd ω isr＝ωs(ii) a Will set the speed v of the shipsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
Local control step:
s801, powering off a second ship speed clutch and a second heading clutch of a second remote control device in the ship control module;
s802, the second acquisition unit respectively acquires the actual rotation angle of the ship speed assembly in the second remote control device
Figure BDA0002473751020000119
And actual angle of rotation theta of the heading assemblyr；
S9, the second synchronous controller rotates the actual angle
Figure BDA00024737510200001110
Converted into actual boat speed vrWill actually rotate the angle thetarConverted into actual heading angle omegar(ii) a In particular, the method comprises the following steps of,
Figure BDA00024737510200001111
ωr＝kωθr+bω(ii) a Wherein k isv、bv、kωAnd bωAre all constants.
S10, the second synchronous controller enables the actual boat speed v to berAnd the actual heading angle omegarAnd sending the data to a high-speed boat control system.
Example two
As shown in fig. 9, the difference between the present embodiment and the first embodiment is that the high-speed boat multi-location remote control system based on the servo synchronization of the present embodiment further includes a slave control module disposed at the slave control station; the number of slave control stations is greater than or equal to 1; in this embodiment, the number of slave control stations is two.
The slave control module includes a third remote control and a third synchronization controller. The first synchronous controller and the third synchronous controller are connected through a communication link, and the third synchronous controllers are in communication connection. In this embodiment, the first remote control device is completely the same as the third remote control device, and the first synchronous controller is completely the same as the third synchronous controller; "first" and "third" are also for descriptive convenience only.
The first remote control device comprises a third ship speed assembly, a third heading assembly, a third collecting unit, a third ship speed clutch and a third heading clutch.
The first synchronous controller is also used for setting the ship speed vsAnd setting the heading angle omegasSending the data to a third synchronous controller in the slave control module;
the third synchronous controller is also used for controlling the suction of a third ship speed clutch and a third heading clutch of a third remote control device;
the third acquisition unit is also used for detecting the actual rotation angle of a third ship speed assembly in a third remote control device
Figure BDA0002473751020000121
And actual angle of rotation theta of third heading assemblyr；
The third synchronous controller is also used for comparison
Figure BDA0002473751020000122
And
Figure BDA0002473751020000123
if a difference is present between
Figure BDA0002473751020000124
The third synchronous controller is used for controlling the forward rotation of the third ship speed component if
Figure BDA0002473751020000125
The third synchronous controller is used for the reverse rotation of the third ship speed component if
Figure BDA0002473751020000126
For third synchronous controllersThe third boat speed component is controlled to stop rotating.
Third synchronous controller compares thetasAnd thetarIf theta is different from the others>θrA third synchronous controller for controlling the third heading component to rotate forward if thetas<θrA third synchronization controller for controlling a third heading assembly to reverse if θs＝θrAnd the third synchronous controller is used for controlling the third heading component to stop rotating.
The multi-place remote control method of the high-speed boat based on the follow-up synchronization further comprises the following steps:
in S3, the speed v of the ship is setsAnd setting the heading angle omegasSending the data to a third synchronous controller in the slave control module;
in S301, a third ship speed clutch and a third heading clutch in a third remote control device are also attracted;
in S4, the actual rotation angle of the cruise control unit in the third remote control unit is also detected
Figure BDA00024737510200001212
And actual angle of rotation theta of the heading assemblyi；
In S5, comparison is also made
Figure BDA0002473751020000127
And
Figure BDA0002473751020000128
if a difference is present between
Figure BDA0002473751020000129
Controlling the third boat speed component to rotate forwards if
Figure BDA00024737510200001211
Controlling the third watercraft speed assembly to reverse if
Figure BDA00024737510200001210
Controlling the third ship speed assembly to stop rotating;
in S6, θ is also comparedsAnd thetaiIf theta is different from the others>θiControlling the third heading component to rotate forwards if thetas<θiControlling the third heading assembly to reverse if thetas＝θiAnd controlling the third heading component to stop rotating.
The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (10)

1. A multi-place remote control method of a high-speed boat based on servo synchronization is characterized by comprising the following steps:
remote control:
s1, acquiring the set rotation angle of the first ship speed assembly in the main control module
Figure FDA0002473751010000011
And a set rotation angle theta of the first heading assemblys；
S2, rotating the set angle of the first ship speed assembly
Figure FDA0002473751010000012
Converted into a set boat speed vsSet rotation angle theta of first heading componentsConverted into a set heading angle omegas；
S3, setting the speed vsSetting a heading angle omegasSetting the rotation angle
Figure FDA0002473751010000013
And setting the rotation angle thetasSending the data to a boat control module;
s4, detecting the actual rotation angle of the second ship speed assembly in the ship control module
Figure FDA0002473751010000014
And actual angle of rotation theta of second heading assemblyr；
S5, controlling the second ship speed component to rotate to set the rotation angle
Figure FDA0002473751010000015
Equal to the actual angle of rotation
Figure FDA0002473751010000016
S6, controlling the second heading component to rotate to set the rotation angle thetasEqual to the actual angle of rotation thetar；
S7, setting the speed vsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
2. The high-speed boat multi-place remote control method based on the servo synchronization as claimed in claim 1, characterized in that: in the S5, comparison
Figure FDA0002473751010000017
And
Figure FDA0002473751010000018
if a difference is present between
Figure FDA0002473751010000019
Controlling the second boat speed component to rotate forwards if
Figure FDA00024737510100000110
Controlling the second watercraft speed assembly to reverse if
Figure FDA00024737510100000111
Controlling the second ship speed assembly to stop rotating;
in S6, θ is comparedsAnd thetarIf theta is different from the others>θrControlling the second heading component to rotate forwards if thetas<θrControlling the second heading assembly to reverse if thetas＝θrAnd controlling the second heading component to stop rotating.
3. The high-speed boat multi-place remote control method based on the servo synchronization as claimed in claim 2, characterized in that: further comprises S601, rotating the actual angle
Figure FDA00024737510100000112
Converted into actual boat speed vrActual angle of rotation thetarConverted into actual heading angle omegar(ii) a In S7, v is also comparedrAnd vs，ωrAnd omegas(ii) a If vr＝νsAnd ω isr＝ωs(ii) a Will set the speed v of the shipsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
4. The method for remotely controlling the high-speed boat in multiple places based on the servo synchronization as claimed in claim 3, is characterized in that: in the step S2, the velocity v of the ship is setsThe calculation formula of (2) is as follows:
Figure FDA0002473751010000021
setting the heading angle omegasThe calculation formula of (2) is as follows: omegas＝kωθs+bωWherein k isv、bv、kωAnd bωAre all constants.
5. The method for remotely controlling the high-speed boat in multiple places based on the servo synchronization as claimed in claim 4, is characterized in that: the method also comprises a local control step:
s8, acquiring the actual rotation angle of the ship speed assembly in the second remote control device
Figure FDA0002473751010000022
And actual angle of rotation theta of the heading assemblyr；
S9, rotating the actual angle
Figure FDA0002473751010000023
Converted into actual boat speed vrWill actually rotate the angle thetarConverted into actual heading angle omegar；
S10, changing the actual boat speed vrAnd the actual heading angle omegarAnd sending the data to a high-speed boat control system.
6. The method for remotely controlling the high-speed boat in multiple places based on the servo synchronization as claimed in claim 5, is characterized in that: in S3, the speed v of the ship is setsAnd setting the heading angle omegasAnd sending the data to the slave control module.
7. A high-speed boat multi-place remote control system based on follow-up synchronization is characterized by comprising a main control module arranged on a main control station and a boat control module arranged on a high-speed boat;
the main control module comprises a first remote control device and a first synchronous controller; the boat control module comprises a second remote control device and a second synchronous controller; the first synchronous controller is in communication connection with the second synchronous controller;
the first remote control device comprises a first ship speed assembly, a first heading assembly and a first acquisition unit; the second remote control device comprises a second ship speed assembly, a second heading assembly and a second acquisition unit;
the first acquisition unit is used for acquiring the set rotation angle of the first ship speed assembly
Figure FDA0002473751010000024
And a set rotation angle theta of the first heading assemblysAnd sending the data to a first synchronous controller;
the first synchronous controller is used for setting the rotation angle of the first ship speed assembly
Figure FDA0002473751010000025
Converted into a set boat speed vsRotating the first heading component by a set angle thetasConverted into a set heading angle omegas；
The first synchronous controller is also used for setting the ship speed vsSetting a heading angle omegasSetting the rotation angle
Figure FDA0002473751010000026
And setting the rotation angle thetasSending the data to a second synchronous controller in the boat control module;
the second acquisition unit is used for detecting the actual rotation angle of a second ship speed assembly in the second remote control device
Figure FDA0002473751010000027
And actual angle of rotation theta of second heading assemblyrAnd sending the data to a second synchronous controller;
the second synchronous controller is used for controlling the second ship speed component to rotate so as to set the rotation angle
Figure FDA0002473751010000031
Equal to the actual angle of rotation
Figure FDA0002473751010000032
Controlling a second heading assemblyRotate to set a rotation angle thetasEqual to the actual angle of rotation thetar；
The second synchronous controller is also used for converting the actual rotation angle
Figure FDA0002473751010000033
Converted into actual boat speed vrActual angle of rotation thetarConverted into actual heading angle omegar；
The second synchronous controller is also used for comparing the actual ship speed vrAnd set the speed vsActual heading angle ωrAnd setting a heading angle omegasIf v isr＝νsAnd ω isr＝ωs(ii) a Will set the speed v of the shipsAnd setting the heading angle omegasAnd sending the data to a high-speed boat control system.
8. The high-speed boat multi-place remote control system based on the servo synchronization as claimed in claim 7, wherein: the second acquisition unit is used for respectively acquiring the actual rotation angles of the ship speed components in the second remote control device
Figure FDA0002473751010000034
And actual angle of rotation theta of the heading assemblyrAnd sending the data to a second synchronous controller; the second synchronous controller is also used for converting the actual rotation angle
Figure FDA0002473751010000035
Converted into actual boat speed vrActual angle of rotation thetarConverted into actual heading angle omegar(ii) a The second synchronization controller is also used for converting the actual ship speed vrAnd the actual heading angle omegarAnd sending the data to a high-speed boat control system.
9. The high-speed boat multi-place remote control system based on the servo synchronization as claimed in claim 8, wherein: the angle of rotation is set
Figure FDA0002473751010000036
Equal to the actual angle of rotation
Figure FDA0002473751010000037
The second synchronous controller compares
Figure FDA0002473751010000038
And
Figure FDA0002473751010000039
if a difference is present between
Figure FDA00024737510100000310
The second synchronous controller is used for controlling the forward rotation of the second ship speed component if
Figure FDA00024737510100000311
The second synchronous controller is used for the reverse rotation of the second ship speed component if
Figure FDA00024737510100000312
The second synchronous controller is used for controlling the second ship speed assembly to stop rotating;
so that the set rotation angle thetasEqual to the actual angle of rotation thetarWhile the second synchronous controller compares thetasAnd thetarIf theta is different from the others>θrThe second synchronous controller is used for controlling the second heading component to rotate forwards if thetas<θrA second synchronization controller for controlling the second heading assembly to reverse if θs＝θrAnd the second synchronous controller is used for controlling the second heading component to stop rotating.
10. The servo-synchronous based high-speed boat multi-ground remote control system according to claim 9, characterized in that: the system also comprises a slave control module, wherein the slave control module comprises a third remote control device and a third synchronous controller, and the first synchronous controller is in communication connection with the third synchronous controller;
the third remote control device comprises a third ship speed assembly, a third heading assembly and a third acquisition unit;
the first synchronous controller is also used for setting the ship speed vsAnd setting the heading angle omegasSending the data to a third synchronous controller in the slave control module; the third acquisition unit is also used for detecting the actual rotation angle of a third ship speed assembly in a third remote control device
Figure FDA00024737510100000313
And actual angle of rotation theta of third heading assemblyr；
The third synchronous controller is also used for comparison
Figure FDA0002473751010000041
And
Figure FDA0002473751010000042
if a difference is present between
Figure FDA0002473751010000043
The third synchronous controller is used for controlling the forward rotation of the third ship speed component if
Figure FDA0002473751010000044
The third synchronous controller is used for the reverse rotation of the third ship speed component if
Figure FDA0002473751010000045
The third synchronous controller is used for controlling the third ship speed assembly to stop rotating;
third synchronous controller compares thetasAnd thetarIf theta is different from the others>θrA third synchronous controller for controlling the third heading component to rotate forward if thetas<θrA third synchronization controller for controlling a third heading assembly to reverse if θs＝θrAnd the third synchronous controller is used for controlling the third heading component to stop rotating.
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